@article{ransacidentificationofhigherorder,
  title = {RANSAC: Identification of Higher-Order Geometric Features and Applications in Humanoid Robot Soccer},
  author = {Madison Flannery and Shannon Fenn and David Budden},
  year = {2013},
  eprint = {1310.5781},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1310.5781v1},
}